Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot
Joint Authors
Zhang, Yunjian
Chen, Dongliang
Weng, Xutao
Shi, Zhonghui
Zhang, Jindong
Source
Applied Bionics and Biomechanics
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-07-14
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
In order to reduce the energy consumption of the legged robot in walking, this paper designs a kind of nonlinear elastic joint from the flexible variable-stiffness joint based on the mammal walking on the limb and optimizes the leg structure of the legged robot.
The motor is rigidly connected to the articulated lever.
When the lever is accelerated or decelerated, the elastic unit is introduced.
The system can be considered as a special variable-rate elastic system.
This paper will study it from theory and simulation experiments.
Based on the dynamic analysis, a functional relationship between the output torque and the torsion spring stiffness and between the energy consumption and the torsion spring stiffness was established.
By finding the extremum, the two optimum torsional spring stiffness that can minimize the required output average torque and the energy consumed during one cycle of motion were deduced.
The results show that using this design in a reasonable position can effectively reduce the energy consumption of the system and can achieve up to a 50% reduction in energy consumption.
American Psychological Association (APA)
Chen, Dongliang& Zhang, Jindong& Weng, Xutao& Zhang, Yunjian& Shi, Zhonghui. 2020. Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot. Applied Bionics and Biomechanics،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1120240
Modern Language Association (MLA)
Chen, Dongliang…[et al.]. Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot. Applied Bionics and Biomechanics No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1120240
American Medical Association (AMA)
Chen, Dongliang& Zhang, Jindong& Weng, Xutao& Zhang, Yunjian& Shi, Zhonghui. Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot. Applied Bionics and Biomechanics. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1120240
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1120240